aruco测距python代码
时间: 2023-11-12 09:12:28 浏览: 85
使用Aruco标记进行距离测量的Python代码示例:
```python
import cv2
import numpy as np
dictionary = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
parameters = cv2.aruco.DetectorParameters_create()
cap = cv2.VideoCapture(0)
while True:
ret, frame = cap.read()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(gray, dictionary, parameters=parameters)
if ids is not None:
rvec, tvec, _ = cv2.aruco.estimatePoseSingleMarkers(corners, 0.05, np.eye(3), np.zeros((1, 4)))
distance = np.linalg.norm(tvec)
cv2.putText(frame, f"Distance: {distance:.2f} m", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
cv2.aruco.drawDetectedMarkers(frame, corners)
cv2.aruco.drawAxis(frame, np.eye(3), np.zeros((1, 4)), 0.1)
cv2.imshow('frame', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
```
这段代码使用OpenCV库实现,首先从摄像头捕获视频帧,将其转换为灰度图像,然后使用Aruco字典和检测器参数检测标记。如果检测到标记,则使用估计单个标记的姿态的函数计算标记的3D位置,然后计算摄像机到标记的距离。最后,在视频帧上绘制检测到的标记和距离信息。
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